*v 0008
*e code=07A9 elementURI="WetLabsBB2FL.bin_median_mass_concentration_of_chlorophyll_in_sea_water" type=02
*a code=08AC owner=3FFF element=07A9 universal=3FFF unitName="microgram_per_liter" type=0B size=0003 fl=05
*e code=077E elementURI="CTD_Seabird.bin_median_sea_water_temperature" type=02
*a code=085B owner=3FFF element=077E universal=3FFF unitName="celsius" type=0B size=0003 fl=05
*e code=0781 elementURI="CTD_Seabird.bin_median_sea_water_salinity" type=02
*a code=085E owner=3FFF element=0781 universal=3FFF unitName="practical_salinity_unit" type=0B size=0003 fl=05
*n code=018E name="CircleSample:SetSampleOptionsExceptSamplingDeps:N"
=Ç¿MwÈ¬ASet CntSamples, CircleYoYoMinDepthNotSampling, CircleYoYoMaxDepthNotSampling, CartridgeType (if ESP), SettleDuration,  MaximumWaitStopMission, MaximumWaitFireEndToStart, MaximumWaitFireSinceFirstSampleStart to  1.000000 count ,  50.000000 m ,  150.000000 m ,  -15.000000 count ,  5.000000 min , 120.000000 min , 0.000000 min , nan min .*n code=01A3 name="CircleSample:SetSampleOptionsSamplingDeps:G"
½Ñ¿ÔZwÈ¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .Ùì¿<µwÈ¬   bÂPÚAùì¿<µwÈ¬ ÍÝ‹ä?í¿<µwÈ¬ÛFÀ*n code=0511 name="CircleSample:CircleAndSample:C"
/¢¿QÂwÈ¬‰Circle around location  36.791142 arcdeg , -121.899147 arcdeg , at radius =  20.000000 m . When sampling or not sampling, circle at sampling depth or circle-yoyo.*e code=06C8 elementURI="DAT.acoustic_contact_range" type=00
*a code=0712 owner=3FFF element=06C8 universal=3FFF unitName="meter" type=0B size=0003 fl=05
Yè¿øyxÈ¬ö@bE¿gxÈ¬éÆ5ÚB¿k€xÈ¬CYâ¿Ï!xÈ¬óÜCyï¿—;zÈ¬—R?Yè¿Cw|È¬±_BYâ¿%å{È¬ ÂCòB¿÷ä|È¬	=ÚB¿}È¬ÇŽCYè¿y¸~È¬¥¦B*n code=0030 name="BPC1"
]¿\È¬™Failed to receive data from 32 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 35, 37, 38, 39, 44, 47, 54, 58, 62.ÚB¿Â£È¬ÍCòB¿o€È¬}
=½Ñ¿*È¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .*n code=053B name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample:I"
o§¿®8È¬ÍElapsed time since mission start (=  10.104719 min ) is longer than MaxWaitFirstSampleOtherLRAUVSampleStartNotReceived (=  10.000000 min ) or MaxWaitFirstSampleOtherLRAUVSampleStartReceived (=  120.000000 min ). Fire sample No. 1.000000 count *n code=00C7 name="CircleSample:Sample:TriggerESP:D"
½c¿ïHÈ¬ØTrigger ESP sampling. DepthLogged, TempLogged, ChlLogged =  113.121025 m ,  9.877802 degC ,  0.096000 ug/l .*n code=00CA name="CircleSample:Sample:TriggerESP:G"
=e¿DTÈ¬DWait for ESP sampling to complete.Yè¿NïÈ¬gîBYâ¿a©È¬ÕCYè¿Ãè„È¬×CYâ¿ZlƒÈ¬3–CÚB¿r˜‡È¬…CòB¿›À‡È¬Î
=Yè¿¶æ‡È¬@çBYè¿`G‰È¬ûÅB*n code=0543 name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample:Q"
o¨¿•Ò‰È¬JSample No. 1.000000 count  completed.*n code=0547 name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitOrNotReceivingOtherLRAUVSampleStartFirstSample:Surfacing:A"
ï¨¿c×‰È¬HAfter sampling, surface for GPS fix.Yè¿b$ŠÈ¬DÓB*n code=0044 name="ThrusterHE"
]"¿N4ŠÈ¬:getSpeed error serial timeout]"¿N4ŠÈ¬FThruster uart error: serial timeoutYâ¿YŠÈ¬™=C*n code=003D name="RDI_Pathfinder"
½¿µP‹È¬:Expecting PD13 message formatYè¿æ`‹È¬e·BÚB¿]é‹È¬ŽCòB¿|ý‹È¬ñ	=bE¿ 4ŒÈ¬»4Yè¿ 
ŽÈ¬cBÚB¿”ÁÈ¬<CYâ¿´¦È¬€,CòB¿[ŠÈ¬Ï=]¿%Î‘È¬\Failed to receive data from all battery packs.bE¿W¸‘È¬à„5bE¿	’È¬•36Yè¿|°’È¬Š­>bE¿Ìæ’È¬5ÚB¿Ä²”È¬ÚCÙì¿¢î–È¬  ÀUÄPÚAùì¿¢î–È¬dßŒä?í¿¢î–È¬ýˆ@À=Ç¿Ð—È¬ASet CntSamples, CircleYoYoMinDepthNotSampling, CircleYoYoMaxDepthNotSampling, CartridgeType (if ESP), SettleDuration,  MaximumWaitStopMission, MaximumWaitFireEndToStart, MaximumWaitFireSinceFirstSampleStart to  2.000000 count ,  50.000000 m ,  150.000000 m ,  -15.000000 count ,  1.000000 min , 120.000000 min , 0.000000 min , nan min .½Ñ¿ç-—È¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .Yè¿N˜È¬ºß?yï¿öQ—È¬x?bE¿C.˜È¬8¹5bE¿
“˜È¬6ÚB¿³˜È¬†CbE¿I™™È¬ä%5Yè¿Å%šÈ¬¼BòB¿÷RœÈ¬;	=Yè¿óÈ¬s”BÚB¿²ÐÈ¬>ŽC½Ñ¿¯/ŸÈ¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .*n code=0553 name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitNotFirstSample:I"
oª¿<>ŸÈ¬MElapsed time since first sample start (=  31.996305 min ) is longer than MaximumWaitFireSinceFirstSampleStart (=  nan min ), or elapsed time since last sample end (=  22.847009 min ) is longer than MaximumWaitFireEndToStart (=  0.000000 min ). Fire sample No. 2.000000 count ½c¿‚MŸÈ¬ÚTrigger ESP sampling. DepthLogged, TempLogged, ChlLogged =  101.788445 m ,  10.245203 degC ,  0.120000 ug/l .=e¿6XŸÈ¬DWait for ESP sampling to complete.Yè¿™ÔŸÈ¬ßÕBÚB¿	Ì È¬CòB¿	Ì È¬È
=Yè¿2£È¬C]¿Gç£È¬\Failed to receive data from all battery packs.Yè¿áí£È¬³CYè¿Pµ¦È¬‹ïB*n code=055A name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitNotFirstSample:P"
O«¿ Ö§È¬JSample No. 2.000000 count  completed.=Ç¿w¨È¬ASet CntSamples, CircleYoYoMinDepthNotSampling, CircleYoYoMaxDepthNotSampling, CartridgeType (if ESP), SettleDuration,  MaximumWaitStopMission, MaximumWaitFireEndToStart, MaximumWaitFireSinceFirstSampleStart to  3.000000 count ,  50.000000 m ,  150.000000 m ,  -15.000000 count ,  1.000000 min , 120.000000 min , 0.000000 min , nan min .½Ñ¿ï¨È¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .½Ñ¿(¨È¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .oª¿96¨È¬IElapsed time since first sample start (=  41.562472 min ) is longer than MaximumWaitFireSinceFirstSampleStart (=  nan min ), or elapsed time since last sample end (=  0.398257 min ) is longer than MaximumWaitFireEndToStart (=  0.000000 min ). Fire sample No. 3.000000 count ½c¿ÚD¨È¬ÚTrigger ESP sampling. DepthLogged, TempLogged, ChlLogged =  104.459755 m ,  10.239496 degC ,  0.108000 ug/l .=e¿TP¨È¬DWait for ESP sampling to complete.Yè¿f¨È¬4ÏBYè¿|4©È¬pÈBÚB¿­Û«È¬‡CòB¿­Û«È¬Ð
=«¿*4¬È¬7(À*n code=051C name="CircleSample:CircleAndSample:Circle:WhenSampling:CircleAndYoyoWhenSampling:C.AltitudeEnvelope"
£¿»®È¬†Altitude envelope ACTIVE. Altitude:8.910000m. At depth:151.285797m.Yè¿Û$®È¬)CYè¿f!°È¬_CYâ¿þòšÈ¬¦…CO«¿„Í°È¬JSample No. 3.000000 count  completed.*n code=055E name="CircleSample:CircleAndSample:Sampling:FiringOnMaxWaitNotFirstSample:Surfacing:A"
Ï«¿Ò°È¬HAfter sampling, surface for GPS fix.*n code=0167 name="CircleSample:SendTerminateMissionMessage:ReachDepthSendMessage:ApproachDepth:A"
½³¿Ò°È¬NMoving to  10.000000 m to send message.Yè¿§Ð²È¬ÚÐBÚB¿³?³È¬âCòB¿1³È¬)
=Yâ¿;ˆ±È¬³-D=¿	–µÈ¬Xgot command set _.peakDepth 172.568771 meter*n code=01B4 name="CircleSample:CheckOtherLRAUVReportedPeakDepth:C"
=Ú¿šµÈ¬¹Received the peak signal and the corresponding depth reported by the other LRAUV. OtherLRAUVReportedPeakDepthPreceding, OtherLRAUVReportedPeakDepth =  nan m  , 172.568771 m .*n code=01BA name="CircleSample:CheckOtherLRAUVReportedPeakDepth:SamplingPlanktivoreLM:B"
=Ý¿˜žµÈ¬rOtherLRAUVReportedPeakPlanktivoreLM =  0.690440 count/s .]¿ßµÈ¬\Failed to receive data from all battery packs.Yè¿7·È¬ˆLB=¿ø€·È¬Xgot command set _.peakDepth 188.211609 meter=¿/E¸È¬zgot command set _.peakPlanktivoreLM 0.149844 count_per_secondÚB¿#m¸È¬QCòB¿#m¸È¬Ï==¿ÿÙ¸È¬Xgot command set _.peakDepth 101.659744 meter=¿¨¹È¬|got command set _.peakPlanktivoreLM -0.000001 count_per_secondbE¿ßºÈ¬Ý|5*n code=016F name="CircleSample:SendTerminateMissionMessage:ReachDepthSendMessage:Msg:C"
½·¿^ºÈ¬‚Set _.terminateMission to  1 bool . Then wait for  2.000000 min .bE¿DÎºÈ¬v!6Yâ¿² ºÈ¬nCYè¿þ8»È¬!¥>bE¿QG»È¬FA5Ùì¿‹£»È¬×£@ ÆPÚAùì¿‹£»È¬yœŒä?í¿‹£»È¬=+Àùª¿O¢»È¬FüUŒä?=Ç¿,Ñ»È¬ASet CntSamples, CircleYoYoMinDepthNotSampling, CircleYoYoMaxDepthNotSampling, CartridgeType (if ESP), SettleDuration,  MaximumWaitStopMission, MaximumWaitFireEndToStart, MaximumWaitFireSinceFirstSampleStart to  3.000000 count ,  50.000000 m ,  150.000000 m ,  -15.000000 count ,  1.000000 min , 120.000000 min , 0.000000 min , nan min .½Ñ¿ß»È¬æSet DepthCircle, CircleYoYoMinDepthSampling, CircleYoYoMaxDepthSampling to  nan m ,  100.000000 m ,  150.000000 m .½³¿\G¼È¬NMoving to  10.000000 m to send message.½'¿‚N¼È¬BStarted mission DefaultWithUndock*n code=0059 name="DefaultWithUndock:LeaveDock:B.Undock"
½,¿½Ð½È¬8Undocking sequence complete.Ùì¿Öð¾È¬   ÕÆPÚAùì¿Öð¾È¬ï%Œä?í¿Öð¾È¬;Ø,ÀòB¿G>½È¬©=ÚB¿G>½È¬ÔCYâ¿ºá»È¬CCbE¿p9¼È¬~D5Yè¿^ò¾È¬ëd>ùª¿ðð¾È¬ï%Œä?«¿ðð¾È¬;Ø,Àyï¿yº¾È¬¥?